What you need to do is find a book on Mathematics in 3D graphics/3D games. Most of these books have example projects, exercises, etc. and depending on your taste in authors, you choose the one that teaches you the best. I myself learned a lot of this through trial and error; I'll read a little theory, then get to pen/paper/computer and play around with it.

And now that I remember this, I'll bring it up: I also looked into the book "3D Math Primer" by Fletcher Dunn and Ian Parberry when I was first learning the math.